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<h1>mindsensors-accelerometer.h</h1>  </div>
</div>
<div class="contents">
<a href="mindsensors-accelerometer_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup accelnx ACCEL-nx Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * ACCEL-nx Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-accelerometer.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSAC_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSAC_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindsensors-accelerometer.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors ACCEL-nx driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindsensors-accelerometer.h provides an API for the Mindsensors ACCEL-nx driver</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> * - 0.2: Added defines for ranges (MSAC_RANGE_2_5 ... MSAC_RANGE_10)&lt;br&gt;</span>
<a name="l00022"></a>00022 <span class="comment"> *        Removed ubyteToInt() calls.</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * Credits:</span>
<a name="l00025"></a>00025 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00028"></a>00028 <span class="comment"> *</span>
<a name="l00029"></a>00029 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00030"></a>00030 <span class="comment"></span>
<a name="l00031"></a>00031 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00032"></a>00032 <span class="comment"> * \date 28 November 2009</span>
<a name="l00033"></a>00033 <span class="comment"> * \version 0.2</span>
<a name="l00034"></a>00034 <span class="comment"> * \example mindsensors-accelerometer-test1.c</span>
<a name="l00035"></a>00035 <span class="comment"> * \example mindsensors-accelerometer-test2.c</span>
<a name="l00036"></a>00036 <span class="comment"> */</span>
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="preprocessor">#pragma systemFile</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a><a class="code" href="group__accelnx.html#ga80f932d1a89877a433260c2a2304c07d">00044</a> <span class="preprocessor">#define MSAC_I2C_ADDR       0x02  </span><span class="comment">/*!&lt; MSAC I2C device address */</span>
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="group__accelnx.html#gaf4fae1e2d87b5e53a45c8a07ea212336">00046</a> <span class="preprocessor">#define MSAC_CMD            0x41  </span><span class="comment">/*!&lt; MSAC command register */</span>
<a name="l00047"></a>00047 
<a name="l00048"></a><a class="code" href="group__accelnx.html#ga298b796f392d823d5a91b43f01cea238">00048</a> <span class="preprocessor">#define MSAC_X_TILT         0x42  </span><span class="comment">/*!&lt; MSAC X tilt data */</span>
<a name="l00049"></a><a class="code" href="group__accelnx.html#ga0bfb75cbb575aa15960a362adc2bafcc">00049</a> <span class="preprocessor">#define MSAC_Y_TILT         0x43  </span><span class="comment">/*!&lt; MSAC Y tilt data */</span>
<a name="l00050"></a><a class="code" href="group__accelnx.html#ga9f6aac360063ebac12d54e9d82eeb734">00050</a> <span class="preprocessor">#define MSAC_Z_TILT         0x44  </span><span class="comment">/*!&lt; MSAC Z tilt data */</span>
<a name="l00051"></a>00051 
<a name="l00052"></a><a class="code" href="group__accelnx.html#ga58cae940154a4d10fe6f3616b69554b3">00052</a> <span class="preprocessor">#define MSAC_X_ACCEL        0x45  </span><span class="comment">/*!&lt; MSAC Z acceleration data */</span>
<a name="l00053"></a><a class="code" href="group__accelnx.html#ga33b82b6a3b1ebff81dc2d70c572ad0c4">00053</a> <span class="preprocessor">#define MSAC_Y_ACCEL        0x47  </span><span class="comment">/*!&lt; MSAC Z acceleration data */</span>
<a name="l00054"></a><a class="code" href="group__accelnx.html#gaf2d604602797c26401c36556ffd6a07c">00054</a> <span class="preprocessor">#define MSAC_Z_ACCEL        0x49  </span><span class="comment">/*!&lt; MSAC Z acceleration data */</span>
<a name="l00055"></a>00055 
<a name="l00056"></a><a class="code" href="group__accelnx.html#ga9cc0256a93d9427628653269dd74f284">00056</a> <span class="preprocessor">#define MSAC_RANGE_2_5      1     </span><span class="comment">/*!&lt; Acceleration up to 2.5G */</span>
<a name="l00057"></a><a class="code" href="group__accelnx.html#gaa50683eacf37df5b18b482c600801bd4">00057</a> <span class="preprocessor">#define MSAC_RANGE_3_3      2     </span><span class="comment">/*!&lt; Acceleration up to 3.3G */</span>
<a name="l00058"></a><a class="code" href="group__accelnx.html#ga73cefdbf1bb233bea622c80476ca9f24">00058</a> <span class="preprocessor">#define MSAC_RANGE_6_7      3     </span><span class="comment">/*!&lt; Acceleration up to 6.7G */</span>
<a name="l00059"></a><a class="code" href="group__accelnx.html#gafd2ae083e565b1bcfb31cf85568b273a">00059</a> <span class="preprocessor">#define MSAC_RANGE_10       4     </span><span class="comment">/*!&lt; Acceleration up to 10G */</span>
<a name="l00060"></a>00060 
<a name="l00061"></a>00061 <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#ga7b42d4f877b62c7d1b44cd75eb56f160">MSACreadTilt</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_tilt, <span class="keywordtype">int</span> &amp;y_tilt, <span class="keywordtype">int</span> &amp;z_tilt);
<a name="l00062"></a>00062 <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#gadb8301b33c7af760e2fa6175eb6411e0">MSACreadAccel</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_accel, <span class="keywordtype">int</span> &amp;y_accel, <span class="keywordtype">int</span> &amp;z_accel);
<a name="l00063"></a>00063 <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#ga741b9360879185a3b476374433d9f505">MSACsendCmd</a>(tSensors link, byte command);
<a name="l00064"></a>00064 <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#gacc507ac1b55ac04d6bd5af0a3a78ce0b">MSACsetRange</a>(tSensors link, <span class="keywordtype">int</span> range);
<a name="l00065"></a>00065 
<a name="l00066"></a><a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">00066</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00067"></a><a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">00067</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>;         <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment">/**</span>
<a name="l00071"></a>00071 <span class="comment"> * Read tilt data from the sensor</span>
<a name="l00072"></a>00072 <span class="comment"> * @param link the sensor port number</span>
<a name="l00073"></a>00073 <span class="comment"> * @param x_tilt X tilt data</span>
<a name="l00074"></a>00074 <span class="comment"> * @param y_tilt Y tilt data</span>
<a name="l00075"></a>00075 <span class="comment"> * @param z_tilt Z tilt data</span>
<a name="l00076"></a>00076 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="group__accelnx.html#ga7b42d4f877b62c7d1b44cd75eb56f160">00078</a> <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#ga7b42d4f877b62c7d1b44cd75eb56f160">MSACreadTilt</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_tilt, <span class="keywordtype">int</span> &amp;y_tilt, <span class="keywordtype">int</span> &amp;z_tilt) {
<a name="l00079"></a>00079   memset(<a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00080"></a>00080 
<a name="l00081"></a>00081   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00082"></a>00082   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[1] = <a class="code" href="group__accelnx.html#ga80f932d1a89877a433260c2a2304c07d">MSAC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00083"></a>00083   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[2] = <a class="code" href="group__accelnx.html#ga298b796f392d823d5a91b43f01cea238">MSAC_X_TILT</a>;     <span class="comment">// Set write address to sensor mode register</span>
<a name="l00084"></a>00084 
<a name="l00085"></a>00085   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>, <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>, 3))
<a name="l00086"></a>00086     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00087"></a>00087 
<a name="l00088"></a>00088   x_tilt = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[0] - 128;
<a name="l00089"></a>00089         y_tilt = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[1] - 128;
<a name="l00090"></a>00090         z_tilt = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[2] - 128;
<a name="l00091"></a>00091 
<a name="l00092"></a>00092   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094 
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">/**</span>
<a name="l00097"></a>00097 <span class="comment"> * Read tilt data from the sensor</span>
<a name="l00098"></a>00098 <span class="comment"> * @param link the sensor port number</span>
<a name="l00099"></a>00099 <span class="comment"> * @param x_accel X acceleration data</span>
<a name="l00100"></a>00100 <span class="comment"> * @param y_accel Y acceleration data</span>
<a name="l00101"></a>00101 <span class="comment"> * @param z_accel Z acceleration data</span>
<a name="l00102"></a>00102 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="group__accelnx.html#gadb8301b33c7af760e2fa6175eb6411e0">00104</a> <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#gadb8301b33c7af760e2fa6175eb6411e0">MSACreadAccel</a>(tSensors link, <span class="keywordtype">int</span> &amp;x_accel, <span class="keywordtype">int</span> &amp;y_accel, <span class="keywordtype">int</span> &amp;z_accel) {
<a name="l00105"></a>00105   memset(<a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00106"></a>00106 
<a name="l00107"></a>00107   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[0] = 2;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00108"></a>00108   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[1] = <a class="code" href="group__accelnx.html#ga80f932d1a89877a433260c2a2304c07d">MSAC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00109"></a>00109   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[2] = <a class="code" href="group__accelnx.html#ga58cae940154a4d10fe6f3616b69554b3">MSAC_X_ACCEL</a>;    <span class="comment">// Set write address to sensor mode register</span>
<a name="l00110"></a>00110 
<a name="l00111"></a>00111   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>, <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>, 6))
<a name="l00112"></a>00112     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00113"></a>00113 
<a name="l00114"></a>00114   <span class="comment">// Each result is made up of two bytes.</span>
<a name="l00115"></a>00115         x_accel = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[0] + (<a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[1] &lt;&lt; 8);
<a name="l00116"></a>00116         y_accel = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[2] + (<a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[3] &lt;&lt; 8);
<a name="l00117"></a>00117         z_accel = <a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[4] + (<a class="code" href="group__accelnx.html#ga689c51f5c27e638193041fde25b3fabb">MSAC_I2CReply</a>[5] &lt;&lt; 8);
<a name="l00118"></a>00118   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120 
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment">/**</span>
<a name="l00123"></a>00123 <span class="comment"> * Send a command to the sensor</span>
<a name="l00124"></a>00124 <span class="comment"> * @param link the sensor port number</span>
<a name="l00125"></a>00125 <span class="comment"> * @param command the command to be sent</span>
<a name="l00126"></a>00126 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a><a class="code" href="group__accelnx.html#ga741b9360879185a3b476374433d9f505">00128</a> <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#ga741b9360879185a3b476374433d9f505">MSACsendCmd</a>(tSensors link, byte command) {
<a name="l00129"></a>00129   memset(<a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00130"></a>00130 
<a name="l00131"></a>00131   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[0] = 3;               <span class="comment">// Number of bytes in I2C command</span>
<a name="l00132"></a>00132   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[1] = <a class="code" href="group__accelnx.html#ga80f932d1a89877a433260c2a2304c07d">MSAC_I2C_ADDR</a>;   <span class="comment">// I2C address of accel sensor</span>
<a name="l00133"></a>00133   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[2] = <a class="code" href="group__accelnx.html#gaf4fae1e2d87b5e53a45c8a07ea212336">MSAC_CMD</a>;        <span class="comment">// Set write address to sensor mode register</span>
<a name="l00134"></a>00134   <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>[3] = command;         <span class="comment">// Command to be sent to the sensor</span>
<a name="l00135"></a>00135 
<a name="l00136"></a>00136   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__accelnx.html#ga9b40a1ee9189ce0b469030ba82a9865e">MSAC_I2CRequest</a>);
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 
<a name="l00139"></a>00139 <span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">/**</span>
<a name="l00141"></a>00141 <span class="comment"> * Set sensitivity range of sensor.</span>
<a name="l00142"></a>00142 <span class="comment"> * @param link the sensor port number</span>
<a name="l00143"></a>00143 <span class="comment"> * @param range 1 = 2.5G, 2 = 3.3G, 3 = 6.7G, 4 = 10G</span>
<a name="l00144"></a>00144 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a><a class="code" href="group__accelnx.html#gacc507ac1b55ac04d6bd5af0a3a78ce0b">00146</a> <span class="keywordtype">bool</span> <a class="code" href="group__accelnx.html#gacc507ac1b55ac04d6bd5af0a3a78ce0b">MSACsetRange</a>(tSensors link, <span class="keywordtype">int</span> range) {
<a name="l00147"></a>00147   byte command = 0;
<a name="l00148"></a>00148 
<a name="l00149"></a>00149   <span class="keywordflow">switch</span> (range) {
<a name="l00150"></a>00150     <span class="keywordflow">case</span> 1: command = <span class="charliteral">&#39;1&#39;</span>; <span class="keywordflow">break</span>;
<a name="l00151"></a>00151     <span class="keywordflow">case</span> 2: command = <span class="charliteral">&#39;2&#39;</span>; <span class="keywordflow">break</span>;
<a name="l00152"></a>00152     <span class="keywordflow">case</span> 3: command = <span class="charliteral">&#39;3&#39;</span>; <span class="keywordflow">break</span>;
<a name="l00153"></a>00153     <span class="keywordflow">case</span> 4: command = <span class="charliteral">&#39;4&#39;</span>; <span class="keywordflow">break</span>;
<a name="l00154"></a>00154     <span class="keywordflow">default</span>: <span class="keywordflow">return</span> <span class="keyword">false</span>; <span class="keywordflow">break</span>;
<a name="l00155"></a>00155   }
<a name="l00156"></a>00156   <span class="keywordflow">return</span> <a class="code" href="group__accelnx.html#ga741b9360879185a3b476374433d9f505">MSACsendCmd</a>(link, command);
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158 
<a name="l00159"></a>00159 <span class="preprocessor">#endif //__MSAC_H__</span>
<a name="l00160"></a>00160 <span class="preprocessor"></span>
<a name="l00161"></a>00161 <span class="comment">/*</span>
<a name="l00162"></a>00162 <span class="comment"> * $Id: mindsensors-accelerometer.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a>00164 <span class="comment">/* @} */</span>
<a name="l00165"></a>00165 <span class="comment">/* @} */</span>
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